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<a href="linear__solver_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_LINEAR_SOLVER_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_LINEAR_SOLVER_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a>&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__block__matrix__ccs_8h.html">sparse_block_matrix_ccs.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> MatrixType&gt;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver.html">   41</a></span>&#160;<span class="keyword">class </span><a class="code" href="classg2o_1_1_linear_solver.html">LinearSolver</a></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver.html#a741928aa64f4b6416c9990892e3ede7a">   44</a></span>&#160;    <a class="code" href="classg2o_1_1_linear_solver.html#a741928aa64f4b6416c9990892e3ede7a">LinearSolver</a>() {};</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver.html#a5157e1221534fae13989c8443adab1ec">   45</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_linear_solver.html#a5157e1221534fae13989c8443adab1ec">~LinearSolver</a>() {}</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver.html#aebd961a94ef6de1bc66d2ca41dd2b17b">init</a>() = 0;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver.html#aa44b40826d50203c8ce2ff258c34e030">solve</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>&amp; A, <span class="keywordtype">double</span>* x, <span class="keywordtype">double</span>* b) = 0;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver.html#a252e3658b3ba0c3577c33f846c514535">   64</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver.html#a252e3658b3ba0c3577c33f846c514535">solveBlocks</a>(<span class="keywordtype">double</span>**&amp;blocks, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>&amp; A) { (void)blocks; (void) A; <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver.html#adc74484f72bbe373622581fd597c1be3">   71</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver.html#adc74484f72bbe373622581fd597c1be3">solvePattern</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixXd&gt;</a>&amp; spinv, <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, int&gt; &gt;&amp; blockIndices, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>&amp; A){</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      (void) spinv;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      (void) blockIndices;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      (void) A;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    }</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver.html#ac4b23c56cf69759a692906fc8816cf8f">   79</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_linear_solver.html#ac4b23c56cf69759a692906fc8816cf8f">writeDebug</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">false</span>;}</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver.html#a969c406ccacc38705b2a88f5ed23cb9a">   80</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_linear_solver.html#a969c406ccacc38705b2a88f5ed23cb9a">setWriteDebug</a>(<span class="keywordtype">bool</span>) {}</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;};</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> MatrixType&gt;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_c_c_s.html">   87</a></span>&#160;<span class="keyword">class </span><a class="code" href="classg2o_1_1_linear_solver_c_c_s.html">LinearSolverCCS</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_linear_solver.html">LinearSolver</a>&lt;MatrixType&gt;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;{</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_c_c_s.html#aa4a8b0612a60769481c40d2d1a6b03ce">   90</a></span>&#160;    <a class="code" href="classg2o_1_1_linear_solver_c_c_s.html#aa4a8b0612a60769481c40d2d1a6b03ce">LinearSolverCCS</a>() : <a class="code" href="classg2o_1_1_linear_solver.html">LinearSolver</a>&lt;MatrixType&gt;(), _ccsMatrix(0) {}</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_c_c_s.html#aa131fa8ea836eafdc1313fdf3a4217f9">   91</a></span>&#160;    <a class="code" href="classg2o_1_1_linear_solver_c_c_s.html#aa131fa8ea836eafdc1313fdf3a4217f9">~LinearSolverCCS</a>()</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    {</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">delete</span> _ccsMatrix;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    }</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">protected</span>:</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_c_c_s.html#a07f0df9a6012d567e26a89063c53aa12">   97</a></span>&#160;    <a class="code" href="classg2o_1_1_sparse_block_matrix_c_c_s.html">SparseBlockMatrixCCS&lt;MatrixType&gt;</a>* <a class="code" href="classg2o_1_1_linear_solver_c_c_s.html#a07f0df9a6012d567e26a89063c53aa12">_ccsMatrix</a>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classg2o_1_1_linear_solver_c_c_s.html#a070138d7e2a68a576e015f5073a4a464">   99</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_linear_solver_c_c_s.html#a070138d7e2a68a576e015f5073a4a464">initMatrixStructure</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>&amp; A)</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">delete</span> _ccsMatrix;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      _ccsMatrix = <span class="keyword">new</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_c_c_s.html">SparseBlockMatrixCCS&lt;MatrixType&gt;</a>(A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#a4fff500693b46e4f62a2f828934d198c">rowBlockIndices</a>(), A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#a1dc1115273da4863f4625b1dc9569d89">colBlockIndices</a>());</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      A.<a class="code" href="classg2o_1_1_sparse_block_matrix.html#a783a9c976391f0c698866e34eeef43f5">fillSparseBlockMatrixCCS</a>(*_ccsMatrix);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    }</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;};</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_linear_solver_html_ac4b23c56cf69759a692906fc8816cf8f"><div class="ttname"><a href="classg2o_1_1_linear_solver.html#ac4b23c56cf69759a692906fc8816cf8f">g2o::LinearSolver::writeDebug</a></div><div class="ttdeci">virtual bool writeDebug() const</div><div class="ttdoc">write a debug dump of the system matrix if it is not PSD in solve </div><div class="ttdef"><b>Definition:</b> linear_solver.h:79</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html"><div class="ttname"><a href="classg2o_1_1_linear_solver.html">g2o::LinearSolver</a></div><div class="ttdoc">basic solver for Ax = b </div><div class="ttdef"><b>Definition:</b> linear_solver.h:41</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_c_c_s_html_a07f0df9a6012d567e26a89063c53aa12"><div class="ttname"><a href="classg2o_1_1_linear_solver_c_c_s.html#a07f0df9a6012d567e26a89063c53aa12">g2o::LinearSolverCCS::_ccsMatrix</a></div><div class="ttdeci">SparseBlockMatrixCCS&lt; MatrixType &gt; * _ccsMatrix</div><div class="ttdef"><b>Definition:</b> linear_solver.h:97</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a4fff500693b46e4f62a2f828934d198c"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a4fff500693b46e4f62a2f828934d198c">g2o::SparseBlockMatrix::rowBlockIndices</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; rowBlockIndices() const</div><div class="ttdoc">indices of the row blocks </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:182</div></div>
<div class="ttc" id="sparse__block__matrix__ccs_8h_html"><div class="ttname"><a href="sparse__block__matrix__ccs_8h.html">sparse_block_matrix_ccs.h</a></div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_c_c_s_html"><div class="ttname"><a href="classg2o_1_1_linear_solver_c_c_s.html">g2o::LinearSolverCCS</a></div><div class="ttdoc">Solver with faster iterating structure for the linear matrix. </div><div class="ttdef"><b>Definition:</b> linear_solver.h:87</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html_a969c406ccacc38705b2a88f5ed23cb9a"><div class="ttname"><a href="classg2o_1_1_linear_solver.html#a969c406ccacc38705b2a88f5ed23cb9a">g2o::LinearSolver::setWriteDebug</a></div><div class="ttdeci">virtual void setWriteDebug(bool)</div><div class="ttdef"><b>Definition:</b> linear_solver.h:80</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a1dc1115273da4863f4625b1dc9569d89"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a1dc1115273da4863f4625b1dc9569d89">g2o::SparseBlockMatrix::colBlockIndices</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; colBlockIndices() const</div><div class="ttdoc">indices of the column blocks </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:186</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html_aebd961a94ef6de1bc66d2ca41dd2b17b"><div class="ttname"><a href="classg2o_1_1_linear_solver.html#aebd961a94ef6de1bc66d2ca41dd2b17b">g2o::LinearSolver::init</a></div><div class="ttdeci">virtual bool init()=0</div><div class="ttdoc">init for operating on matrices with a different non-zero pattern like before </div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html_adc74484f72bbe373622581fd597c1be3"><div class="ttname"><a href="classg2o_1_1_linear_solver.html#adc74484f72bbe373622581fd597c1be3">g2o::LinearSolver::solvePattern</a></div><div class="ttdeci">virtual bool solvePattern(SparseBlockMatrix&lt; MatrixXd &gt; &amp;spinv, const std::vector&lt; std::pair&lt; int, int &gt; &gt; &amp;blockIndices, const SparseBlockMatrix&lt; MatrixType &gt; &amp;A)</div><div class="ttdoc">Inverts the a block pattern of A in spinv. </div><div class="ttdef"><b>Definition:</b> linear_solver.h:71</div></div>
<div class="ttc" id="sparse__block__matrix_8h_html"><div class="ttname"><a href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:62</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a783a9c976391f0c698866e34eeef43f5"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a783a9c976391f0c698866e34eeef43f5">g2o::SparseBlockMatrix::fillSparseBlockMatrixCCS</a></div><div class="ttdeci">int fillSparseBlockMatrixCCS(SparseBlockMatrixCCS&lt; MatrixType &gt; &amp;blockCCS) const</div><div class="ttdoc">copy into CCS structure </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:592</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html_a5157e1221534fae13989c8443adab1ec"><div class="ttname"><a href="classg2o_1_1_linear_solver.html#a5157e1221534fae13989c8443adab1ec">g2o::LinearSolver::~LinearSolver</a></div><div class="ttdeci">virtual ~LinearSolver()</div><div class="ttdef"><b>Definition:</b> linear_solver.h:45</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html_a741928aa64f4b6416c9990892e3ede7a"><div class="ttname"><a href="classg2o_1_1_linear_solver.html#a741928aa64f4b6416c9990892e3ede7a">g2o::LinearSolver::LinearSolver</a></div><div class="ttdeci">LinearSolver()</div><div class="ttdef"><b>Definition:</b> linear_solver.h:44</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_c_c_s_html_a070138d7e2a68a576e015f5073a4a464"><div class="ttname"><a href="classg2o_1_1_linear_solver_c_c_s.html#a070138d7e2a68a576e015f5073a4a464">g2o::LinearSolverCCS::initMatrixStructure</a></div><div class="ttdeci">void initMatrixStructure(const SparseBlockMatrix&lt; MatrixType &gt; &amp;A)</div><div class="ttdef"><b>Definition:</b> linear_solver.h:99</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html_aa44b40826d50203c8ce2ff258c34e030"><div class="ttname"><a href="classg2o_1_1_linear_solver.html#aa44b40826d50203c8ce2ff258c34e030">g2o::LinearSolver::solve</a></div><div class="ttdeci">virtual bool solve(const SparseBlockMatrix&lt; MatrixType &gt; &amp;A, double *x, double *b)=0</div><div class="ttdoc">Assumes that A is the same matrix for several calls. </div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_c_c_s_html_aa4a8b0612a60769481c40d2d1a6b03ce"><div class="ttname"><a href="classg2o_1_1_linear_solver_c_c_s.html#aa4a8b0612a60769481c40d2d1a6b03ce">g2o::LinearSolverCCS::LinearSolverCCS</a></div><div class="ttdeci">LinearSolverCCS()</div><div class="ttdef"><b>Definition:</b> linear_solver.h:90</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_c_c_s_html_aa131fa8ea836eafdc1313fdf3a4217f9"><div class="ttname"><a href="classg2o_1_1_linear_solver_c_c_s.html#aa131fa8ea836eafdc1313fdf3a4217f9">g2o::LinearSolverCCS::~LinearSolverCCS</a></div><div class="ttdeci">~LinearSolverCCS()</div><div class="ttdef"><b>Definition:</b> linear_solver.h:91</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_c_c_s_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_c_c_s.html">g2o::SparseBlockMatrixCCS</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:53</div></div>
<div class="ttc" id="classg2o_1_1_linear_solver_html_a252e3658b3ba0c3577c33f846c514535"><div class="ttname"><a href="classg2o_1_1_linear_solver.html#a252e3658b3ba0c3577c33f846c514535">g2o::LinearSolver::solveBlocks</a></div><div class="ttdeci">virtual bool solveBlocks(double **&amp;blocks, const SparseBlockMatrix&lt; MatrixType &gt; &amp;A)</div><div class="ttdoc">Inverts the diagonal blocks of A. </div><div class="ttdef"><b>Definition:</b> linear_solver.h:64</div></div>
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